CN114291546B - Single-piece separation control method and device, and single-piece separation method and device - Google Patents
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Abstract
The invention discloses a single piece separation control method and a separation control device, and a single piece separation method and a separation device, wherein the method comprises the following steps: s1, acquiring the current position and the current speed of a current object on a transmission line; s2, sorting the positions of the current objects; and S3, updating the object speed nearest to the separation outlet. And updating the speed of other objects. The invention can effectively separate single objects, and also carries out association analysis and control on the states of all objects, so that the objects can be controlled to be separated in a state that the distance is gradually increased, the separation accuracy is high, the separation speed is stable to change, the object running state is stable, and the fault rate and the power consumption of the machine can be reduced by a system with stable change.
Description
Technical Field
The invention relates to the technical field of automatic processing, in particular to a single-piece separation control method and device, and a single-piece separation method and system.
Background
In order to improve efficiency, online shopping is usually performed by packing objects into objects or storing the objects in a warehouse, sending the objects purchased by a user to the user through a logistics, and in the destination location of the user, there is a centralized warehouse, and the objects from various locations are centralized in the warehouse, sorted and sent to specific customer addresses.
In the face of hundreds of millions of objects per day being delivered, there are increasing demands on automated handling of objects. In recent years, express sorting systems mainly adopting cross belt sorting machines, matrix sorting and AGV robots have been deployed in a large number, so that the automation level of sorting express articles is greatly improved, but the separation of single articles at the front end of the sorting system is mainly finished by manpower, the processing capacity of articles and the site circulation rate are greatly limited, and the main reasons for limiting the sorting efficiency are mainly in the article separation link.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a single-piece separation control method, which comprises the following steps:
s1, acquiring the current position and the current speed of a current object on a transmission line;
s2, sorting the positions of the current objects;
And S3, updating the object speed nearest to the separation outlet.
Further, step S3 includes:
the distance between the object and the separation outlet is calculated by the following calculation formula:
P[k].DO＝Length_x-P[k].maxx_new
the speed of updating the object is calculated by the following formula:
P[k].V＝P[k].DO/(DS-OutV*OT)*OutV
Wherein: length_x is the Length of the separator segment, pk. maxx _new is the position of the object update, DS is the object separation interval, OT is the time of last object separation and the current time difference, outV is the belt speed of the separation exit.
Further, step S3 further includes:
and S4, updating the speeds of other objects.
Further, step S4 includes:
the distance between the object and the separation outlet is calculated by the following calculation formula:
P[k].DO＝Length_x-P[k].maxx_new
the speed of updating the object is calculated by the following formula:
P[k].V＝P[k].DO/(P[k-1].DO/P[k-1].V+DS/OutV)。
further, S1, in the step of obtaining the current position and the current speed of the current object on the transmission line, the current speed of the object is the speed of the belt pressed by the current object, specifically:
if the object presses only one small belt, the current speed is the speed of the small belt for bearing the object;
If the object presses a plurality of small belts, the current speed is the mass center of the speed calculated by the area of the plurality of small belts pressed by the object, and the formula is as follows:
P[k].V0＝sum(B[i][j].V*B[i][j].p[k])/sum(B[i][j].p[k])
wherein, bj.V refers to the speed of the ith row and j column of small belts, and Bi j.pk refers to the area of the pressed belt of the kth wrapping the ith row and j column of small belts.
Further, S1, in the step of obtaining the current position and the current speed of the current object on the transmission line, the formula for calculating the position of the current object is as follows:
P[k].minx_new＝P[k].minx+P[k].V0*(CDT+DT)
P[k].maxx_new＝P[k].maxx+P[k].V0*(CDT+DT)
P[k].miny_new＝P[k].miny
P[k].maxy_new＝P[k].maxy
Wherein: CDT is the time delay of the camera memory map and the time of DT object detection.
The invention also discloses a single-piece separation control device, which comprises an acquisition module and a processing module, wherein:
the acquisition module is used for acquiring the position of the current object on the transmission line;
the processing module is used for sequencing the positions of the current objects and calculating and updating the speeds of the objects.
The invention also discloses a single piece separation method, which comprises the following steps:
Introducing the article onto a conveyor belt;
Performing dispersion treatment on the imported objects;
separating the objects;
centering or edge-leaning treatment is carried out on the object, so that single-row transmission of the object is realized;
the single column of transferred articles is transferred to a subsequent processing device,
Wherein the method for separating the objects is the single-piece separation control method.
The invention also discloses a single-piece separation device which comprises a control device and a transmission device, wherein the control device is the single-piece separation control device and is used for collecting object information and controlling the transmission device;
the transmission device comprises four transmission sections:
An introduction section: introducing the article onto a conveyor belt;
And (3) dispersing: performing dispersion treatment on the imported objects;
And (3) separating: separating the objects;
An intermediate section: centering or edge-leaning treatment is carried out on the object, so that single-row transmission of the object is realized;
export section: the single column of transported articles is transported to a subsequent processing facility.
The invention also discloses a sorting system which comprises a single piece separating device, wherein the single piece separating device is the single piece separating device.
Compared with the prior art, the invention can effectively separate single pieces, and also carries out association analysis and control on the states of all the objects, so that the control objects can be separated in a state that the distance is gradually increased, the separation accuracy is high, the separation speed is stable, and the running state of the objects is stable. The system with stable change can also reduce the failure rate and the power consumption of the machine.
Drawings
FIG. 1 is a flow chart of a single-piece separation control method of the present invention;
FIG. 2 is a schematic diagram illustrating object detection in a frame of an image according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a single piece separator device according to an embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become readily apparent to those skilled in the art from the following disclosure, when considered in light of the accompanying drawings, by describing embodiments of the present invention with specific embodiments thereof. The invention may be practiced or carried out in other embodiments and details within the scope and range of equivalents of the various features and advantages of the invention.
Referring to fig. 1, the object of the present application generally refers to a target object flowing on a logistics line or a production line, including products, packages, express packages, packaging boxes, and the like. In the automatic sorting process, the single-piece separation of the objects is mainly applied to the front end part of various automatic sorting equipment, and aims to automatically separate the objects placed in disorder on a conveying line or a belt conveyor and output the objects in sequence according to a certain interval so as to realize the effective butt joint with the automatic sorting equipment. In order to solve the defects existing in the prior art, the application discloses a single-piece separation control method, which comprises the following steps:
s1, acquiring the current position and the current speed of a current object on a transmission line;
s2, sorting the positions of the current objects;
And S3, updating the object speed nearest to the separation outlet.
After the current position and the current speed of the current object are obtained, the application can realize the ordering of the positions of the current object, then update the speed of the object closest to the outlet, and generate a command signal to control the motor by the speed value, and control the belt speed bearing the object closest to the outlet by the motor, so as to realize the gradual pulling of the distance between the object and the ordered object, and then the object can be pumped to the next link.
In the above application, the technical effect of separating the objects can be achieved, but in more cases, not a few objects but an unordered number of objects are on the transmission line, so in order to further improve the overall transmission efficiency and speed, the situation that each object is ordered later needs to be considered and optimized, and as a more preferred embodiment, the method further includes the steps of, in addition to updating the speed of the object closest to the separation outlet:
And S4, updating the speed of other objects, namely optimizing the speed of other objects on the transmission line by taking the cooperation of the other objects into consideration, so that the whole separation efficiency can be improved, and the efficiency and the speed of the whole sorting line are improved.
The following describes the technical scheme of the present application in detail by combining examples and various preferred modes.
S1, acquiring the current position and the current speed of a current object on a transmission line:
In this embodiment, the transmission line described in S1 refers to a transmission area where objects are to be separated, referring to fig. 2, fig. 2 is a schematic diagram of detecting an object in a frame image according to an embodiment of the present application, for example, an object with a number 1 carries a total of 6 small belts, and in this schematic diagram, an object with a number 1 is an object closest to a separation outlet.
And acquiring a certain frame of image on the transmission line through the acquisition module, and outputting two types of positioning information, namely object information and belt information. The object information comprises position information of the objects, including the minimum circumscribed rectangle of each object, the pressed belt, the area of the pressed belt and the like; the belt information includes the belt area and the like of each small belt pressed with a plurality of objects. The specific description of each article is as follows:
Position of the kth article in the separation section: distance of P [ k ] minx, P [ k ] maxx, P [ k ] miny, P [ k ] maxy object from the last object: p [ k ]. DISTANCELAST,
Distance of article from separation section exit: p [ k ]. DO,
The number of articles pressed by the ith row and the jth row of small belts: bi j mailnum
The object k pressed by the ith row and jth row of small belts occupies the area of the belts: bi j, pk
In step S1, the current position of the object is calculated, the current speed is the speed of the belt pressed by the current object, and as a preferred embodiment, the present application divides the speed into several cases to calculate:
if the object presses only one small belt, the current speed is the speed of the small belt for bearing the object;
If the object presses a plurality of small belts, the current speed is the mass center of the speed calculated by the area of the plurality of small belts pressed by the object, and the formula is as follows:
P[k].V0＝sum(B[i][j].V*B[i][j].p[k])/sum(B[i][j].p[k])
Bi j.V refers to the speed of the ith row and j column of small belts, and Bi j.pk refers to the area of the kth belt pressed around the ith row and j column of small belts.
In addition, if there is no article (bi ] [ j ]. Mailnum =0) on the small belt, a default speed can be set on the system, or further optimization can be performed, such as setting the belt speed to the lead-in section (i.e., the speed of the last link before the article is led into the separation zone of the transfer of this embodiment) or the speed of the small belt to the speed of the previous row of small belts. Other speeds may be adjusted according to the actual situation.
For the transmission and logistics system, the object is a continuous process in the transmission process, so that the information of the object is continuously collected, the information collected in the current state is the state of the current moment, when the information collected in the current moment is used for updating the next moment, the object is offset due to the transmission speed, the camera shooting delay is caused, and the like, so that the error after updating is relatively large, and the camera delay and other factors are taken into consideration, so that the speed of the small belt can be controlled more accurately.
To this end, the application proposes a preferred embodiment as follows:
obtaining the length of a separation section: length_x;
obtaining the height of a separation section: height_y;
Actual position of the kth article in the separation section: pk, minx_new, pk, maxx _new, pk, miny _new, pk, maxy _new
Speed of object calculation for last frame image: p < k >. V0,
Speed of object calculation in current frame image: p [ k ], V
Speed of ith row, jth column of small belts: bi j V,
The time at which the last item successfully achieved the separation is different from the current time: OT (optical time stamp)
Belt speed at separation outlet: outV in some cases, the belt speed at the separation outlet is the belt speed at the middle stage.
The time delay of the camera picture storage: CDT (CDT)
The object detection time is as follows: DT (DT)
Object separation interval: DS (DS)
Taking the impressions of the above factors into consideration, the calculation method for calculating the current position according to the application comprises the following steps:
P[k].minx_new＝P[k].minx+P[k].V0*(CDT+DT)
P[k].maxx_new＝P[k].maxx+P[k].V0*(CDT+DT)
P[k].miny_new＝P[k].miny
P[k].maxy_new＝P[k].maxy
After the current position and current speed of the current object are obtained, step S2 of sorting the positions of the current object may be performed. As a variant embodiment, the speed may be calculated in step S2, or the speed may be calculated in step S3, and then the speed is updated in step S3, which do not depart from the technical solution and the inventive concept of the present application.
S3, updating the speed of the object closest to the separation outlet, wherein the step of updating the speed of the object closest to the separation outlet comprises the following steps:
the distance between the object and the separation outlet is calculated by the following calculation formula:
P[k].DO＝Length_x-P[k].maxx_new
the speed of updating the object is calculated by the following formula:
P[k].V＝P[k].DO/(DS-OutV*OT)*OutV
s4, updating the speed of other objects:
the preferred embodiment further comprises updating taking into account the speed of other objects, comprising the steps of:
The distance between the object and the separation outlet is calculated, and the calculation formula is the same as the calculation method of the object closest to the separation outlet.
The speed of updating the object is calculated by the following formula:
P[k].V＝P[k].DO/(P[k-1].DO/P[k-1].V+DS/OutV)
The speed of the updated object is calculated by the calculation formula, the speed value can be generated into an instruction signal to control the motor, the speed of the motor is controlled to be assigned to the motor, then the object on the small belt can obtain the speed value, and for specific objects, the calculated values are related but different, so that the objects can be transmitted at different speeds, and separation is realized.
Therefore, the object separation method and the device can separate the objects, and perform association analysis and control on the states of the objects on the basis of effective separation, so that the objects can be controlled to be separated in a state that the distance is gradually increased, the separation accuracy is high, the separation speed is stable, and the running state of the objects is stable. The system with stable change can also reduce the failure rate and the power consumption of the machine.
The present application also provides an electronic device including: a processor, a storage medium, and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor in communication with the storage medium via the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the single piece separation control method.
Based on the above embodiment, the present application further provides a single-piece separation control device, including an acquisition module and a processing module, where:
the acquisition module is used for acquiring the position of the current object on the transmission line;
the processing module is used for sequencing the positions of the current objects and calculating and updating the speeds of the objects.
In addition, the present application provides a single piece separating method based on the above embodiment, including the steps of:
Introducing the article onto a conveyor belt;
Performing dispersion treatment on the imported objects;
separating the objects;
centering or edge-leaning treatment is carried out on the object, so that single-row transmission of the object is realized;
the single column of transferred articles is transferred to a subsequent processing device,
The method for separating the objects is the single-piece separation control method described in the above embodiment.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a single-piece separating device according to an embodiment of the present application, and based on the above embodiment, the present application further provides a single-piece separating device including a control device and a transmission device.
The control device adopts the single-piece separation control device and is used for collecting object information and controlling the transmission device.
The transmission device comprises four transmission sections:
An introduction section: introducing the article onto a conveyor belt;
And (3) dispersing: performing dispersion treatment on the imported objects;
And (3) separating: separating the objects;
An intermediate section: centering or edge-leaning treatment is carried out on the object, so that single-row transmission of the object is realized;
export section: the single column of transported articles is transported to a subsequent processing facility.
The control device detects and updates the object state of the separation section at a processing rate of more than 10 frames per second through a camera, then delivers the acquired image to a processing platform for information processing, the processing platform comprises an object detection algorithm and a control strategy algorithm, the object detection algorithm is mainly used for identifying object objects on transmission, the control strategy algorithm is used for realizing the function of the control device, a control instruction can be generated by using the method for updating the object speed to realize assignment of a motor on a belt array, and then all objects on the belt can be separated and sent to a centering section.
The application further provides a sorting system comprising a plurality of devices, such as conveying devices, single-piece separating devices, sorting devices, etc., wherein the single-piece separating devices use the single-piece separating devices of the above embodiments.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is to be indicated by the appended claims.
Claims (9)
1. The single piece separation control method is characterized by comprising the following steps:
s1, acquiring the current position and the current speed of a current object on a transmission line;
s2, sorting the positions of the current objects;
S3, updating the speed of the object closest to the separation outlet, and calculating the distance between the object and the separation outlet, wherein the calculation formula is as follows:
P[k].DO＝Length_x-P[k].maxx_new
the speed of updating the object is calculated by the following formula:
P[k].V＝P[k].DO/(DS-OutV*OT)*OutV
Wherein: length_x is the Length of the separation segment, pk. maxx _new is the position of the object update, DS is the object separation interval, OT is the difference between the time of last object separation and the current time, outV is the belt speed of the separation outlet, and k is the serial number of the object.
2. The single piece separation control method of claim 1, further comprising, after step S3:
and S4, updating the speeds of other objects.
3. The single piece separation control method of claim 2, wherein: the step S4 includes:
the distance between the object and the separation outlet is calculated by the following calculation formula:
P[k].DO＝Length_x-P[k].maxx_new
the speed of updating the object is calculated by the following formula:
P[k].V＝P[k].DO/(P[k-1].DO/P[k-1].V+DS/OutV)。
4. The single piece separation control method of claim 1, wherein: s1, acquiring the current position of a current object on a transmission line and the current speed, wherein the current speed of the object is the speed of a belt pressed by the current object, specifically:
if the object presses only one small belt, the current speed is the speed of the small belt for bearing the object;
If the object presses a plurality of small belts, the current speed is the mass center of the speed calculated by the area of the plurality of small belts pressed by the object, and the formula is as follows:
P[k].V0＝sum(B[i][j].V*B[i][j].p[k])/sum(B[i][j].p[k])
wherein, bj.V refers to the speed of the ith row and j column of small belts, and Bi j.pk refers to the area of the pressed belt of the kth wrapping the ith row and j column of small belts.
5. The single piece separation control method of claim 4, wherein: s1, in the step of acquiring the current position and the current speed of the current object on the transmission line, the formula for calculating the position of the current object is as follows:
P[k].minx_new＝P[k].minx+P[k].V0*(CDT+DT)
P[k].maxx_new＝P[k].maxx+P[k].V0*(CDT+DT)
P[k].miny_new＝P[k].miny
P[k].maxy_new＝P[k].maxy
wherein: CDT is the time delay of camera storage, and when DT object is detected, P [ k ] minx is the minimum value of current object k in length X direction, P [ k ] maxx is the maximum value of current object k in length X direction, P [ k ] miny is the minimum value of current object k in height Y direction, and P [ k ] maxy is the maximum value of current object k in height Y direction.
6. The utility model provides a single piece separation controlling means which characterized in that includes collection module and processing module, wherein:
the acquisition module is used for acquiring the position of the current object on the transmission line;
The processing module is used for sequencing the positions of the current objects, calculating and updating the speed of the objects, and calculating the distance between the objects and the separation outlet, wherein the calculation formula is as follows:
P[k].DO＝Length_x-P[k].maxx_new
the speed of updating the object is calculated by the following formula:
P[k].V＝P[k].DO/(DS-OutV*OT)*OutV
Wherein: length_x is the Length of the separation segment, pk. maxx _new is the position of the object update, DS is the object separation interval, OT is the difference between the time of last object separation and the current time, outV is the belt speed of the separation outlet, and k is the serial number of the object.
7. A single piece separation method comprising the steps of:
Introducing the article onto a conveyor belt;
Performing dispersion treatment on the imported objects;
separating the objects;
centering or edge-leaning treatment is carried out on the object, so that single-row transmission of the object is realized;
the single column of transferred articles is transferred to a subsequent processing device,
The method for separating objects is a single-piece separation control method according to any one of claims 1 to 5.
8. A single piece separating device comprising a control device and a transmission device, characterized in that:
the control device is the single piece separation control device of claim 6, and is used for collecting object information and controlling the transmission device;
the transmission device comprises four transmission sections:
An introduction section: introducing the article onto a conveyor belt;
And (3) dispersing: performing dispersion treatment on the imported objects;
And (3) separating: separating the objects;
An intermediate section: centering or edge-leaning treatment is carried out on the object, so that single-row transmission of the object is realized;
export section: the single column of transported articles is transported to a subsequent processing facility.
9. A sorting system comprising a single piece separating device, wherein the single piece separating device is the single piece separating device of claim 8.
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